/*****************************************************************//**
 * \file   EndTool3Dof.h
 * \brief  This file is about the end tool with Three Degrees of Freedom
 * 
 * \author Administrator
 * \date   July 2021
 * \modify by Administrator
 * \date   July 2021

 *********************************************************************/
#pragma once
#include "Eigen/Dense"
#include "../EndToolInterface.h"

class EndTool3Dof :public EndToolInterface
{
public:
	bool bInitDone = false;
public:
	EndTool3Dof();
	~EndTool3Dof();
	Eigen::Matrix4d geToolEndMatrix(Eigen::Matrix4d robotend) override;
	Eigen::Matrix4d getRobotNextEnd(Eigen::Matrix4d robotend_current, Eigen::Matrix4d toolend_next, Eigen::Vector3d RCM) override;
	int getEndToolType() override;
};